CN102812697A

CN102812697A - Imager For Constructing Color And Depth Images

Info

Publication number: CN102812697A
Application number: CN2010800437795A
Authority: CN
Inventors: S·麦克尔道尼; E·吉埃默
Original assignee: Microsoft Corp
Current assignee: Microsoft Technology Licensing LLC
Priority date: 2009-10-01
Filing date: 2010-09-01
Publication date: 2012-12-05
Anticipated expiration: 2030-09-01
Also published as: KR20120080591A; WO2011041066A2; WO2011041066A3; US8723118B2; EP2484107A2; EP2484107A4; CN102812697B; US20140291520A1; JP2013506868A; US20110079714A1; KR101719388B1

Abstract

A dual-mode includes a light source configured to project a structured illumination from which visible light can be filtered. The dual-mode imager also includes a detector configured to capture both the structured illumination and visible light from the scene. A temporal or spatial filter is used to selectively block visible light from one or more portions of the detector while passing the structured illumination to the one or more portions of the detector.

Description

Be used to make up the imager of color and depth image

Background

Camera can be used for catching the rest image of scene.Some rest images that rapid Continuous is taken can be used for generating the film that comprises a plurality of frames, and each frame is corresponding to different rest images.The image of even now is very useful in various application, but such image is not to be suitable for some purpose well.Particularly, conventional rest image and film do not provide the information of the relative depth on the various surfaces that are enough to be evaluated in the scene exactly and caught.

General introduction

The double-mode imaging device that the scene that is used for that visible light is thrown light on is carried out to picture is disclosed.This double-mode imaging device comprises and is configured to the light source that the structured lighting of visible light can be therefrom filtered in projection.This double-mode imaging device also comprises and is configured to catch from the structured lighting of scene and the detector of visible light.Time or spatial filter are used for optionally blocking visible light makes its one or more parts that do not arrive detector, and makes structured lighting arrive these one or more parts of detector through making it.

This general introduction is provided so that some notions that will in following detailed description, further describe with the reduced form introduction.This general introduction is not intended to identify the key or the essential feature of theme required for protection, is not intended to be used to limit the scope of theme required for protection yet.In addition, theme required for protection is not limited to solve the realization of any or all shortcoming of in arbitrary part of the present disclosure, mentioning.

The accompanying drawing summary

Fig. 1 shows and can be processed the exemplary scene that is used to make up color image and depth image.

Fig. 2 schematically shows the example double-mode imaging device according to an embodiment of the present disclosure.

Fig. 3 schematically shows the example runner filter according to an embodiment of the present disclosure.

The runner filter that Fig. 4 schematically shows Fig. 3 wherein just with the detector cooperation to make up the time series of color image and depth image.

Fig. 5 schematically shows and the instance space filter of detector cooperation with structure color image and depth image.

Fig. 6 shows to use and shares the exemplary method that imageing sensor makes up color image and depth image.

Fig. 7 schematically shows and can use the example calculations system that imageing sensor makes up color image and depth image of sharing.

Describe in detail

Disclose to use and shared the double-mode imaging device that imageing sensor is handled depth information and color information.Numeral double-mode imaging device filters on time and/or space to be sent to imageing sensor (promptly; Detector) light; Make the subclass of subclass in the time of pixel (for example be exposed to first parameter; Wavelength band) light that is characterized, and make the identical or different subclass of identical or different subclass in the time of pixel be exposed to the light that second parameter different with first parameter (for example, different wavelengths band) characterized.In this way, the light that first parameter is characterized can be used for making up color image, and the light that second parameter is characterized can be used for making up depth image.These two kinds of images all can use identical imageing sensor to make up---for example; Through use all pixels come read carry out between color information and the depth information temporal alternately, or use other pixels to read depth information through using selected pixel to read color information.

Use shared imageing sensor that the hereinafter that is created in of color image and depth image is described as an example and with reference to some illustrated embodiment.With noticing that the accompanying drawing that comprises in this manual is schematic.The general not to scale (NTS) of the view of illustrated embodiment is drawn.Aspect ratio, feature sizes and the on purpose distortion of characteristic quantity are so that selected characteristic or relation are more readily understood.

Fig. 1 shows the simplified perspective view that can be processed the exemplary scene 10 that is used to make up color image and depth image.Scene comprises each object and the surface of arranging with different depth (that is, being positioned at the observer's of scene front the distance of viewpoint certainly).Surface 12 is the darkest (apart from observer's viewpoint farthest) in scene.Surface 14 is arranged at the front (viewpoint apart from the observer is nearer) on surface 12, and

surface

16,18 and 20 is arranged at the front on surface 14.Thus, the surface of current consideration is the macro sheet face, has the dimension with scene dimension same order.Yet, will notice that system and method disclosed herein is not limited to such surface, but also will allow the much little zone of inspection structuring macro sheet face, for example, inquire coarse or irregular topological structure etc.In addition, although Fig. 1 shows static scene, notion described herein can be used for dynamic scene (such as comprising the one or more mobile people or the scene of object) is formed images.

The different depth in being arranged at scene, each surface shown in Fig. 1 is relative to each other directed by different ground with the

observer.Surface

12 and 14 is oriented with observer's sight line and is normal direction, and surperficial 16 tilt for observer's sight line.In addition,

curved surface

18 and 20 presents the continuously-directional scope with respect to observer's sight line.

Surface shown in Fig. 1 also can present various textures.For example, surface 20 can be level and smooth relatively than bottom surface 18.On the optics, the different texture of scene can be showed different light reflectance properties.For example, surface 20 can be a direct reflection to a great extent, and surface 18 can be scattering to a great extent.

Finally, each object in the scene can be a different color.Although black line and white line are drawn and be used to schematically describe scene 10, those of skill in the art will understand, and light absorption that each is surperficial and light reflectance properties can differ from one another, and each surperficial color can differ from one another thus.

In some applications, only handle the color image (for example, digital photograph or digital movie) of color information to form this scene from scene.In other are used, only handle depth information from scene to form depth image.As described herein, handle color information and depth information, make to form color image and depth image.---camera be used to generate color image and another camera is used to generate depth image---the present invention relates to generate the single double-mode imaging device of two kinds of images replace to use two cameras that separate.

Fig. 2 shows the transversal plane view of scene 10.In an example embodiment, also shown is double-mode imaging device 22.This double-mode imaging device is the optical system that is used for the scene imaging; It comprises controller 23, light source 24, detector 26 and filter 28.

Controller 23 can be any control appliance that is configured to control light source 24, detector 26 and/or filter 28---for example, is used to trigger, coordinate and/or the running of these assemblies synchronously.Controller can comprise that logic subsystem and/or the data described like hereinafter keep subsystem.In certain embodiments, controller can comprise the depth analysis device.In other embodiments, the depth analysis device can be communicated by letter with controller in operation, but itself can be the system that opened in a minute.

The timing of controller tunable filter and detector makes that the image of being caught by detector is sorted to make up depth image when filter is just blocking to come the visible light of self-detector.Controller is the timing of tunable filter and detector also, makes the image of being caught by detector at filter visible light sorted to make up color image when making it arrive detector.The depth analysis device can make up depth image based on one or more images of the structured lighting of being caught by detector (that is, when filter is just blocking visible light and do not make it arrive detector, one or more images of being caught by detector) subsequently.This will describe below in more detail.

Light source 24 can be to be configured to filter each lip-deep any suitable light source that illumination projects to scene 10.Particularly, light source 24 is configured to the light that projection has the one or more characteristics different with the character pair of visible light, allows thus to filter visible light (for example, can filter via wavelength and/or polarization state) with respect to projected light.

Among the embodiment, light source comprises laser 30 and disperser 32 shown in figure 2.Laser can provide has known polarization state and intensive, the warp calibration, relevant and monochromatic basically light beam.

As any extraordinary indication of the rotation of the direction of the term ' polarization state ' that here uses light generation when being included in light and propagating or sensing or this direction; Indication can be accurately or approximate, completely or incomplete.An example of polarization state is to comprise S fully ₀, S ₁, S ₂And S ₃The complete Stokes vector representation of component, these components are defined as:

S ₀＝|E _x| ²+|E _y| ²

S ₁＝|E _x| ²-|E _y| ²

S ₂＝|E _a| ²-|E _b| ²

S ₁＝|E _l| ²-|E _r| ²，

Wherein, E ₁And E ₂It is base

The complex amplitudes component of middle electric field,

Be the standard cartesian basis,

Be the cartesian basis of 45 ° of rotations, and Be be defined by feasible

The circumference base.Not exclusively the example of polarization state is the degree of polarization p by the following formula definition:

p = \frac{\sqrt{S_{1}^{2} + S_{2}^{2} + S_{3}^{2}}}{S_{0}},

And linear polarization direction ψ is defined by following formula:

2ψ＝arctan(S ₂/S ₁).

Continue Fig. 2, in certain embodiments, laser 30 can be continuous wave (CW) laser; In other embodiments, this laser can be laser of pulse, mode locking, Q-switch or the like.The power that is included in the laser in the light source 24 can be selected based on the scene that will form images, and the laser that power is bigger is used for far away and wide scene, and lower-powered laser is used for nearer and compacter scene.Except power, the emission optical maser wavelength of laser can be selected based on the scene that will form images.Particularly, can select to launch optical maser wavelength so that minimally and visible light are overlapping.In one embodiment, emission optical maser wavelength can be near-infrared wavelength.

Disperser 32 can be to be configured to being dispersed in the projected angle scope and thus with throw light on any equipment of this scene of a plurality of smooth characteristic that separates each other from laser 30 through calibration beam.Among the embodiment, the light characteristic forms the patterning or the otherwise structurized illumination 33 of laser 30 shown in figure 2.Fig. 2 illustrates the laser beam that is dispersed in the deflection angle scope that is limited to horizontal plane.In the embodiment shown, deflection angle adopts the centrifugal pump of being separated by constant increment, for example ,-20 ° ,-15 ° ... ,+20 °.In other embodiments, centrifugal pump by increment at random separately.In other embodiments, laser beam flatly is dispersed in the successive range of deflection angle.To understand, digital scope described herein is merely example, and other scopes fall in the scope of the present invention fully.

Disperser 32 can further be dispersed in laser beam in the deflection angle scope that is limited to vertical plane.Similar with above-mentioned level dispersion, vertically dispersion can be that disperse or continuous.If level disperses the both to disperse with vertical, then scene will be thrown light on by constellation point.If vertically disperse to disperse, and the level dispersion is continuous that then scene will be thrown light on by a series of horizontal bars.And if vertically disperse to disperse, and the level dispersion is continuous, and then scene will be thrown light on by a series of vertical bars, further quotes like hereinafter.Can use these or other structured light pattern and do not deviate from scope of the present invention.

In order to disperse laser beam, disperser 32 can comprise various optical modules---lens, diffraction optical device, diffuser, mirror, waveguide, mask etc.In certain embodiments, disperser can further comprise various active blocks---for example, and electromechanical actuator, chopper, piezoelectric device and liquid crystal light valve.

Continue Fig. 2, detector 26 can be any equipment that is configured to catch from the light of scene through detection the image of this scene.In addition, as shown in Figure 2, detector can be directed, and makes the image that captures comprise at least a portion by light source 24 and/or the scene that visible light threw light on.The part of the illumination of being reflected from each surface of scene in this way, can detect by device to be detected.Detector 26 is configured to catch structured lighting and the visible light from scene.

Detector 26 can comprise the almost any combination that is used to collect and/or light is focused on each optical module of imageing sensor 40.

Imageing sensor 40 can be any transducer of relative intensity that is configured to detect relative intensity and the structured lighting 33 of visible light.Light source 24 comprises among the embodiment of near-infrared emitting laser therein, and for example, imageing sensor can comprise the complementary metal oxide semiconductors (CMOS) (CMOS) that is configured to detect the light with approximate 380 nanometers to, thousand nano wave lengths.In addition, imageing sensor can be configured to the graphical representation that captures is become pel array.Thus, each pixel of the image that captures can be encoded to the luminous intensity that zones of different reflected from scene for one or more color channels.It will be understood by those skilled in the art that to use and to detect visible light, the light of illumination light photograph 33 and/or the various different images transducers of modulated illumination, and do not deviate from scope of the present invention.In addition, be appreciated that and incorporate imageing sensor into various device with different optical configuration.

Filter 28 can be time filter or spatial filter.A non-limiting example of time filter comprises the runner filter.A schematically illustrated example runner filter 50 in Fig. 3.Runner filter 50 comprises the first 52 that is configured to block visible light and near infrared light is passed through.First comes schematically to identify with vertical curve.Revolving filter also comprises the second portion 54 that is configured to visible light is passed through and can randomly blocks near infrared light.Second portion is with horizontal line incoming letter meaning property ground sign.

Schematically illustrated four different time: the t of Fig. 4 ₀, t ₁, t ₂And t ₃Runner filter 50, this four times are corresponding to four continuous exposures (that is, detector is caught four continuous times of image) of detector 26a.Although this figure is schematically in essence, the figure shows light advancing from left to right.Advance bottom through filter to detector from the light of scene.Shown in this example, the first of runner filter 50 detector every when once catching image (for example, time t ₀And t ₂) optically in the middle of scene and detector 26a.Equally, the second portion of runner filter 50 detector every when once catching image (for example, time t ₁And t ₃) optically in the middle of scene and detector 26a.As discussed above, the time period that controller can time filter is set to the twice of the time period of detector.In other words, detector 26a catches two images---visible images and near-infrared image during the each rotation of runner filter.That is, each rotation, runner filter 50 is configured to block visible light for approximately half rotation, and for approximately half rotation visible light is passed through.

As schematically illustrated among Fig. 4, can be used for generating depth image (that is, at time t through the infrared light that arrives detector ₀And t ₂).As use, depth image is included in wherein any image to each pixel record position depth value (for example, z coordinate). hereEqually, can be used for generating color image (that is, at time t through the visible light that arrives detector ₁And t ₃).As use here; Color image is included in wherein any image that each pixel is write down one or more intensity levels (for example, the single intensity level of black and white or grayscale image or with different color or two or more corresponding intensity levels of luminance channel of multicolor image).

Above-mentioned configuration is a non-limiting example of time filter.Can use visible light obstruction part and visible light to pass through other runner filters partly with different numbers.For example, the runner filter can comprise two quarterings that are configured to block visible light, assigns to alternately through two fourth class of visible light being configured to.Visible light blocks and visible light can come sizing and shape in any suitable way through part.In addition, be appreciated that the time filter that can use except the runner filter.Generally speaking, can use and be configured to make it not arrive detector to carry out any filter of replacing on the time between its arrival detector through making blocking visible light with making visible light.

Although provide above-mentioned runner the notion of from the light of depth image, filtering the light of color image to be shown, be appreciated that other and arrange also within the scope of the invention as non-limiting example.For example, can combine the polarization rotator of wavelength sensitive to use other vehicular equipments of modulating polarization (for example, photoelasticity modulator) to come to change in time the signal of imageing sensor.

The example of the schematically illustrated spatial filter 60 of Fig. 5 (partly illustrating).Spatial filter 60 is configured to block visible light makes its some part that does not arrive detector 62 (partly illustrating), and allows visible light to arrive other parts of this detector through making it.For example, spatial filter can be configured to block visible light that it is not arrived in the pixel groups (pixel column that replaces on the pixel column that for example, replaces on the space, the space, the checkerboard pattern of pixel etc.) that replaces on a plurality of spaces of detector is every at a distance from a pixel groups.In the embodiment shown, spatial filter 60 is disposed and alignment by collaborative with detector 62, make the even pixel row be exposed near infrared light, and the odd pixel row is exposed to visible light.

As schematically illustrated among Fig. 5, can be used for generating depth image (that is, using the even pixel row) through the infrared light that arrives detector.Equally, can be used for generating color image (that is, using the odd pixel row) through the visible light that arrives detector.

The another kind of method that visible light and infrared light are separated is to use the color circulator.Under this situation, through linear polarization and subsequently through filter, this filter is for some wavelength rotatory polarization state from the light of scene, but other wavelength are kept identical polarization state.The visible light that the formation of light has the infrared light that is in a kind of polarization state and is in a different conditions.Such light can spatially separate through using patterned polarizer, and wherein the polarization direction is a spatial variations.

Fig. 6 shows to use and shares the exemplary method 70 that imageing sensor makes up color image and depth image.72, method 70 comprises structured lighting is projected on the scene.Structured lighting can be filtered any other characteristic that keeps structured lighting not to be filtered basically simultaneously by near-infrared wavelength or allowance visible light and characterize.Structured lighting can be from any suitable light source by projection, such as the light source that comprises near infrared laser.

74, method 70 be included in obstruction make it not arrive detector from the visible light of scene and make from the visible light of scene through it is arrived carry out between detector temporal alternately.In certain embodiments, this can use such as runner filter equal time filter and accomplish.

76, method 70 comprises logic branch.If visible light gets clogged, then method moves to 78.If visible light is not prevented from, then method moves to 80.78, method 70 comprises with detector comes the capturing structure illumination.Detector can be can the capturing structure illumination and any suitable detector of visible light.

82, method 70 comprises based on the structured lighting that captures with detector and generates depth image.Depth image can be made up by the depth analysis device at least in part, and this depth analysis device is configured to the relative position based on the light characteristic of spatially separating that constitutes structured lighting, assesses the locations of pixels depth value.For ease of such image processing, imageing sensor can comprise picture element array structure, makes monochromatic light and rgb light all can be detected.

80, method 70 comprises logic branch.If visible light is passed through, then method moves to 84.If visible light is passed through (for example, both also having passed through the near-infrared filtration fraction of filter through the visible light filtration fraction of filter from the light of scene), then method loops back 76.

84, method 70 comprises with detector catches visible light.78 be used to the capturing structure illumination same detector be used to catch visible lights 84.

86, method 70 comprises based on the visible light that captures with detector and generates color image.Color image can be multicolor image, black and white image or grayscale image.

Although it is above in the infrared structure illumination that is used to form depth image and be used to form in the context that filters between the visible light of color image and described strobe utility; Be appreciated that; Strobe utility described herein can be used for filtering from (for example having one or more different characteristics; Wavelength, polarization etc.) the Depth Imaging illumination of other types of light, or vice versa.Generally speaking, describe like text, the light with one or more types of first characteristic can filter out from the dissimilar light with different characteristic.The non-limiting example that relative to each other is filtrable smooth type comprises visible light, infrared light, near infrared light, ultraviolet light, structured light and/or modulated light.

As following said, can use various computing system, and not depart from spirit of the present disclosure with reference to figure 7.The operating environment of describing with reference to figure 2 provides as an example, but and does not mean that by any way and limit.On the contrary, shown operating environment is intended to show the universal that can under the situation that does not deviate from the scope of the present disclosure, be applied to various different operation environment.

Said method and process can be tied to various dissimilar computing systems.The schematically illustrated one or more computing system 90 carried out in color image structure described herein and the depth image construction method of Fig. 7.Computing system 90 can be taked various form, especially includes but not limited to: game console, personal computing system, military tracking and/or scaling system and the collection apparatus system that green screen or motion-captured function are provided.

Computing system 90 can comprise logic subsystem 92, in operation, be connected to data preservation subsystem 94, display subsystem 96 and/or the double-mode imaging device 98 of logic subsystem.Computing system can randomly comprise not shown assembly in Fig. 7, and/or some assembly of being illustrated among Fig. 7 can be the peripheral assembly that is not integrated in the computing system.

Logic subsystem 92 can comprise the one or more physical equipments that are configured to carry out one or more instructions.For example, logic subsystem can be configured to carry out one or more instructions, and these one or more instructions are parts of one or more programs, routine, object, assembly, data structure or other logical constructs.Can realize that such instruction is with the state of executing the task, realize data type, the one or more equipment of conversion or otherwise obtain desirable result.Logic subsystem can comprise the one or more processors that are configured to the executive software instruction.Additionally or alternately, logic subsystem can comprise one or more hardware or the firmware logic machine that is configured to carry out hardware or firmware instructions.Logic subsystem can randomly comprise the stand-alone assembly that is distributed on two or more equipment, and these stand-alone assemblies in certain embodiments can be by long-range placement.

Data are preserved subsystem 94 can comprise one or more physical equipments, and these one or more equipment are configured to preserve and can carry out data and/or instruction to realize method described herein and process by logic subsystem.When realizing such method with process, state (for example, to keep different data) that can transform data maintenance subsystem 94.Data keep subsystem 94 can comprise removable medium and/or built-in device.Data keep subsystem 94 can comprise optical memory devices, semiconductor memory devices (like RAM, EEPROM, flash memory etc.) and/or magnetic storage device etc.Data keep subsystem 94 can comprise the equipment with the one or more characteristics in the following characteristic: volatibility, non-volatile, dynamic, static, read/write, read-only, arbitrary access, sequential access, position addressable, file addressable and content addressable.In certain embodiments, can keep subsystem 94 to be integrated in one or more common device logic subsystem 92 and data, like application-specific integrated circuit (ASIC) or SOC(system on a chip).

Fig. 7 also illustrates the one side of the data maintenance subsystem of readable removable medium 100 forms that use a computer, and this aspect can be used for storing and/or transmitting carrying out data and/or the instruction that realizes method described herein and process.

Display subsystem 96 can be used for appearing the visual representation of the data that kept by data maintenance subsystem 94.Because method described herein and process change preserve the data that subsystem is preserved by data; And and then conversion data preserve the state of subsystem; So maybe same conversion the state of display subsystem 96 visually to represent the change (for example, display subsystem can show the visual representation of constructed color image, constructed depth image and/or based on the dummy model of constructed depth image) in the bottom data.Display subsystem 96 can comprise and uses in fact one or more display devices of the technology of any kind.Can this type of display device be preserved subsystem 94 with logic subsystem 92 and/or data and be combined in the shared encapsulation, or this type of display device can be peripheral display device.

Computing system 90 also comprises and is configured to obtain the depth image of one or more targets and/or scene and the double-mode imaging device 98 of color image.But the analysis of depth image utilization structure light makes up.In such analysis, patterning light (that is, be shown as such as known pattern such as lattice or candy strips light) can be projected on the scene.On the surface of scene, pattern can become distortion, and this distortion of pattern can be studied the physical distance with the ad-hoc location confirming from the double-mode imaging device to scene.The double-mode imaging device can comprise time or the spatial filter that is used for optionally blocking visible light, is convenient to thus catch depth image and color image with same double-mode imaging device.

Be appreciated that and carry out some depth analysis operation at least by the logic machine of one or more double-mode imaging devices.The double-mode imaging device can comprise processing unit on the one or more plates that are configured to carry out one or more depth analysis functions.The double-mode imaging device can comprise that firmware is to promote that upgrading such plate carries processing logic.

Should be appreciated that configuration described herein and/or method are exemplary in itself, and these specific embodiments or example should not be considered to circumscribed, because a plurality of variant is possible.Concrete routine described herein or method can be represented one or more in any amount of processing policy.Thus, shown each action can be carried out in the indicated order, carried out in proper order, carries out concurrently, perhaps omits in some cases by other.Equally, can change the order of said process.

Theme of the present disclosure comprise the novel and non-obvious combination of all of various processes, system and configuration and son combination and other characteristics, function, action and/or characteristic disclosed herein, with and any and whole equivalent.

Claims

1. double-mode imaging device that is used for the scene by visible illumination is carried out to picture, said double-mode imaging device comprises:

Light source is configured to projecting on the said scene from the structured lighting that wherein can filter visible light;

Detector is configured to catch structured lighting and the visible light from said scene; And

Filter is used for optionally blocking visible light and makes it not arrive one or more parts of said detector and make said structured lighting arrive these one or more parts of said detector through making it.

2. double-mode imaging device as claimed in claim 1; It is characterized in that; Said filter comprises time filter, and said time filter is configured to make it not arrive said detector to carry out temporal replacing with making visible light between the said detector through it is arrived blocking visible light.

3. double-mode imaging device as claimed in claim 2; It is characterized in that; Said filter comprises the runner filter, and said runner filter comprises and is configured to block one or more parts of visible light and is configured to one or more parts that visible light is passed through.

4. double-mode imaging device as claimed in claim 3 is characterized in that, said runner filter is configured to block visible light for approximately half rotation, and for approximately half this rotation visible light is passed through.

5. double-mode imaging device as claimed in claim 2; It is characterized in that; Also comprise controller; Said controller is used to coordinate said time filter and said detector, makes the image that when said time filter is just blocking visible light and makes it not arrive said detector, is being captured by said detector sorted to make up depth image; And make the image that when said time filter just makes visible light arrive said detector through making it, is capturing sorted to make up color image by said detector.

6. double-mode imaging device as claimed in claim 5; It is characterized in that; Said time filter comprises polarizer and photoelasticity modulator; Be used for block visible light make it not arrive said detector with make visible light through it is arrived carry out between the said detector temporal alternately, and need not mobile each several part.

7. double-mode imaging device as claimed in claim 1; It is characterized in that; Said filter comprises spatial filter, and said spatial filter is configured to block visible light to be made it not arrive some part of said detector and allow visible light to arrive other parts of said detector through making it.

8. double-mode imaging device as claimed in claim 7; It is characterized in that; Said detector comprises the pixel groups that replaces on a plurality of spaces, and said spatial filter is configured to block visible light and makes it not arrive in the pixel groups that replaces on said a plurality of space whenever the pixel groups at a distance from.

9. double-mode imaging device as claimed in claim 8 is characterized in that, the pixel groups that replaces on said a plurality of spaces is the pixel column that replaces on the space.

10. double-mode imaging device as claimed in claim 7 is characterized in that, said spatial filter comprises the color circulator of polarizer, wavelength sensitive and the patterned polarizer with polarization direction of spatial variations.

11. double-mode imaging device as claimed in claim 1 is characterized in that said detector comprises complementary metal oxide semiconductors (CMOS).

12. double-mode imaging device as claimed in claim 1 is characterized in that, said light source comprises the laser with near-infrared emission optical maser wavelength.

13. double-mode imaging device as claimed in claim 12; It is characterized in that; Said light source comprises disperser; Said disperser is configured to the bundle through calibration from said laser is dispersed in the projected angle scope, with closet the light characteristic of separating on a plurality of spaces of the near-infrared wavelength said scene of throwing light on is arranged.

14. double-mode imaging device as claimed in claim 1 is characterized in that, also comprises the depth analysis device, said depth analysis device is configured to make up depth image based on one or more images of the structured lighting that is captured by said detector.

15. a method that makes up color image and depth image, said method comprises:

The structured lighting that will have near-infrared wavelength is projected on the scene;

Make it not arrive detector to carry out temporal replacing between the said detector through it is arrived blocking visible light from said scene with making visible light from said scene;

When the visible light that blocks from said scene, catch said structured lighting with said detector;

Make from the visible light of said scene through the time, catch visible light with said detector;

Generate said depth image based on the structured lighting that captures with said detector; And

Generate said color image based on the visible light that captures with said detector.